07663333 is referenced by 100 patents and cites 308 patents.

A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Title
Method and system for multi-mode coverage for an autonomous robot
Application Number
11/771433
Publication Number
7663333 (B2)
Application Date
June 29, 2007
Publication Date
February 16, 2010
Inventor
Philip R Mass
Denver
CO, US
Joseph L Jones
Acton
MA, US
Agent
Fish & Richardson P C
Assignee
iRobot Corporation
MA, US
IPC
B25J 5/00
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